Ignition Gazebo

API Reference

6.0.0~pre1
AckermannSteering.hh
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2021 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16  */
17 #ifndef IGNITION_GAZEBO_SYSTEMS_ACKERMANNSTEERING_HH_
18 #define IGNITION_GAZEBO_SYSTEMS_ACKERMANNSTEERING_HH_
19 
20 #include <memory>
21 
23 
24 namespace ignition
25 {
26 namespace gazebo
27 {
28 // Inline bracket to help doxygen filtering.
29 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
30 namespace systems
31 {
32  // Forward declaration
33  class AckermannSteeringPrivate;
34 
101 
102 
104  : public System,
105  public ISystemConfigure,
106  public ISystemPreUpdate,
107  public ISystemPostUpdate
108  {
110  public: AckermannSteering();
111 
113  public: ~AckermannSteering() override = default;
114 
115  // Documentation inherited
116  public: void Configure(const Entity &_entity,
119  EventManager &_eventMgr) override;
120 
121  // Documentation inherited
122  public: void PreUpdate(
123  const ignition::gazebo::UpdateInfo &_info,
125 
126  // Documentation inherited
127  public: void PostUpdate(
128  const UpdateInfo &_info,
129  const EntityComponentManager &_ecm) override;
130 
133  };
134  }
135 }
136 }
137 }
138 
139 #endif
Interface for a system that uses the PostUpdate phase.
Definition: System.hh:119
Information passed to systems on the update callback.
Definition: Types.hh:38
Ackermann steering controller which can be attached to a model with any number of left and right whee...
Definition: AckermannSteering.hh:103
The EntityComponentManager constructs, deletes, and returns components and entities. A component can be of any class which inherits from components::BaseComponent.
Definition: EntityComponentManager.hh:66
The EventManager is used to send/receive notifications of simulator events.
Definition: EventManager.hh:54
Interface for a system that implements optional configuration.
Definition: System.hh:88
This library is part of the Ignition Robotics project.
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light. At its core, an Entity is just an identifier.
Definition: Entity.hh:59
Interface for a system that uses the PreUpdate phase.
Definition: System.hh:105
Base class for a System.
Definition: System.hh:73